//
// Created by JYL on 2024-06-17.
//

#ifndef WHEELTEC_PID_H
#define WHEELTEC_PID_H
#include "main.h"

extern float Balance_Kp,Balance_Kd,Velocity_Kp,Velocity_Ki,Turn_Kp,Turn_Kd;

int Balance(float Angle,float Gyro);
int Velocity(int encoder_left,int encoder_right);
int Turn(float gyro);
int CCD_turn(u8 CCD,float gyro);

#endif //WHEELTEC_PID_H
